WO2014138193A1 - Détection audio de blocage de support - Google Patents

Détection audio de blocage de support Download PDF

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Publication number
WO2014138193A1
WO2014138193A1 PCT/US2014/020639 US2014020639W WO2014138193A1 WO 2014138193 A1 WO2014138193 A1 WO 2014138193A1 US 2014020639 W US2014020639 W US 2014020639W WO 2014138193 A1 WO2014138193 A1 WO 2014138193A1
Authority
WO
WIPO (PCT)
Prior art keywords
sum
medium
sound
jam
high amplitude
Prior art date
Application number
PCT/US2014/020639
Other languages
English (en)
Inventor
James E. Adams
Bruce A. Link
Original Assignee
Kodak Alaris Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kodak Alaris Inc. filed Critical Kodak Alaris Inc.
Priority to EP14760338.5A priority Critical patent/EP2964554B1/fr
Priority to JP2015561588A priority patent/JP5985088B2/ja
Priority to CN201480017496.1A priority patent/CN105050926B/zh
Priority to EP18167476.3A priority patent/EP3381846B1/fr
Publication of WO2014138193A1 publication Critical patent/WO2014138193A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H7/00—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles
    • B65H7/02—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors
    • B65H7/06—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
    • B65H29/12—Delivering or advancing articles from machines; Advancing articles to or into piles by means of the nip between two, or between two sets of, moving tapes or bands or rollers
    • B65H29/125—Delivering or advancing articles from machines; Advancing articles to or into piles by means of the nip between two, or between two sets of, moving tapes or bands or rollers between two sets of rollers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H43/00—Use of control, checking, or safety devices, e.g. automatic devices comprising an element for sensing a variable
    • B65H43/02—Use of control, checking, or safety devices, e.g. automatic devices comprising an element for sensing a variable detecting, or responding to, absence of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H43/00—Use of control, checking, or safety devices, e.g. automatic devices comprising an element for sensing a variable
    • B65H43/04—Use of control, checking, or safety devices, e.g. automatic devices comprising an element for sensing a variable detecting, or responding to, presence of faulty articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/06—Feeding articles separated from piles; Feeding articles to machines by rollers or balls, e.g. between rollers
    • B65H5/062—Feeding articles separated from piles; Feeding articles to machines by rollers or balls, e.g. between rollers between rollers or balls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H7/00—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles
    • B65H7/02—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors
    • B65H7/06—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed
    • B65H7/12—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed responsive to double feed or separation
    • B65H7/125—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed responsive to double feed or separation sensing the double feed or separation without contacting the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/50—Occurence
    • B65H2511/52—Defective operating conditions
    • B65H2511/524—Multiple articles, e.g. double feed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/50—Occurence
    • B65H2511/52—Defective operating conditions
    • B65H2511/528—Jam
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/50—Vibrations; Oscillations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/82—Sound; Noise
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2801/00—Application field
    • B65H2801/03—Image reproduction devices
    • B65H2801/06—Office-type machines, e.g. photocopiers

Definitions

  • This invention pertains to the field of indicating medium jams in a medium transport system and more particularly to a method for detecting and processing sound values in order to indicate a medium jam.
  • Computer Readable Medium describes placing a microphone near the beginning of a paper feed path in order to detect the sound of a paper jam in progress.
  • the signal from the microphone is processed by counting the number of sound samples above a given threshold within a sampling window of a given width. If the count is sufficiently large a paper jam is signaled.
  • the problem with this approach is the loss of localized information about the paper as it moves along the transport path as provided by the previously discussed prior art methods.
  • the present invention represents a method of indicating a medium jam along a medium transport path comprising:
  • one or more rollers for use in conveying the medium along the medium transport path; a microphone for detecting the sound of the medium being conveyed and producing a signal representing the sound;
  • a processor for producing sound values from the signal and:
  • the present invention has the advantage that a microphone can detect the sound of a medium jamming over a larger physical area than optical or mechanic methods which are localized in nature. As a result, one microphone can replace the need for several optical or mechanic sensors.
  • the present invention has the additional advantage that it processes sound values over the entire medium transport path and at specific locations along the medium transport path thereby improving medium jam detection accuracy and reliability over many prior art methods.
  • the present invention has the additional advantage that the sound value processing is simple as it comprises computing sums of the sound values produced from the microphone signals. More computationally intensive methods such as transformations into frequency space or signal processing methods such a median filtering are avoided, resulting in sound value processing that requires substantially less computation resources and processing time than many prior art methods.
  • FIG. 1 is a high-level diagram showing the components of a medium transport system according to an embodiment of the present invention
  • FIG. 2 is a block diagram illustrating a process for indicating a medium jam according to an embodiment of present invention
  • FIG. 3 is an example of the sound values in FIG. 1 ;
  • FIG. 4 is a block diagram showing additional details for the jam test block in FIG. 3;
  • FIG. 5 is a block diagram illustrating a process for indicating a medium jam according to an alternate embodiment of present invention.
  • FIG. 6 is a block diagram showing additional details for the jam test block in FIG. 5. It is to be understood that the attached drawings are for purposes of illustrating the concepts of the invention and may not be to scale. DETAILED DESCRIPTION OF THE INVENTION
  • FIG. 1 is a block diagram of a medium transport system for a preferred embodiment of the present invention.
  • a medium 110 is moved along a medium transport path 100 by a set of rollers collectively referred to as a first roller 120 and a set of rollers collectively referred to as a second roller 140.
  • Examples of the medium 110 are paper, photographic film, and magnetic recording media. Other examples of the medium 110 will be evident to those skilled in the art.
  • a microphone 130 detects the sound of the medium 110 being conveyed along the medium transport path 100 and produces a signal 150 representing the sound.
  • a processor 160 produces sound values 170 from the signal 150.
  • FIG. 2 is a flowchart of a signal processing portion of the preferred embodiment of the present invention.
  • a compute moving window sum block 200 produces a moving window sum 210 from the sound values 170 (FIG. 1).
  • a compute high amplitude count block 220 produces a high amplitude count 230 from the sound values 170 (FIG. 1).
  • a compute post roller sum block 240 produces a post roller sum 250 from the sound values 170 (FIG. 1).
  • a jam test block 260 tests the moving window sum 210, the high amplitude count 230, and the post roller sum 250 and produces a YES result and indicates a jam 270 if a medium jam is detected or a NO result and the medium transport system continues operation 280 if a medium jam is not detected.
  • Examples of a medium jam are stoppages of medium movement along the medium transport path 100 (FIG. 1), multiple sheets of medium 110 (FIG. 1) being simultaneously fed into the medium transport path 100 (FIG. 1) designed to convey only single sheets of medium 110 (FIG. 1) at one time, and wrinkling, tearing, or other physical damage to the medium 110 (FIG. 1).
  • Other examples of medium jams will be evident to those skilled in the art.
  • FIG. 3 is an example of a set of sound values 170 (FIG. 1) produces by a normal passage of the medium 110 (FIG. 1) along the medium transport path 100 (FIG. 1).
  • Region A in FIG. 3 corresponds to the medium 110 (FIG. 1) passing from the first roller 120 (FIG. 1) to the second roller 140 (FIG. 1).
  • Region B in FIG. 3 corresponds to the medium 110 (FIG. 1) in the vicinity of the second roller 140 (FIG. 1).
  • Region C in FIG. 3 corresponds to the medium 110 (FIG. 1) after it passes the second roller 140 (FIG. 1).
  • Region D in FIG. 3 corresponds to the medium 110 (FIG. 1) after it passes
  • Region E in FIG. 3 corresponds to the medium 110 (FIG. 1) after it passes Region D.
  • the compute moving window sum block 200 computes a sum of the most recent Ni sound values 170 (FIG. 1) where Ni is typically a thousand.
  • the moving sum calculation begins at the signal start 300 (FIG. 3) and continues until a medium jam is detected or the end of the sound values 170 (FIG. 1) has been reached.
  • the compute high amplitude count block 220 counts the number of sound values 170 (FIG. 1) greater than a high amplitude threshold where the high amplitude threshold is set to be higher than a major of the sound values 170 (FIG. 1) produced by a normal passage of the medium 110 (FIG. 1) along the medium transport path 100 (FIG. 1).
  • the high amplitude count begins at the signal start 300 (FIG.
  • the compute post roller sum block 240 computes at least one sum of sound values 170 (FIG. 1) corresponding to Regions C, D, and E in FIG. 3. In the preferred embodiment of the present invention the compute post roller sum block 240 computes three sums of sound values 170 (FIG. 1). The compute post roller sum block 240 computes a first post roller sum by computing a sum of the sound values 170 (FIG. 1) corresponding to Region C in FIG. 3. Region C in FIG. 3 typically includes 500 sound values 170 (FIG. 1). The compute post roller sum block 240 computes a second post roller sum by computing a sum of the sound values 170 (FIG.
  • Region D in FIG. 3 typically includes 500 sound values 170 (FIG. 1).
  • the compute post roller sum block 240 computes a third post roller sum by computing a moving sum of the most recent N 2 sound values 170 (FIG. 1) within Regions C, D, and E in FIG. 3 where N 2 is typically 500.
  • FIG. 4 is a detailed diagram of the jam test block 260 (FIG. 2).
  • Block 400 compares the moving window sum, W, 210 (FIG. 2) to a moving window sum threshold, Tw- If the moving window sum, W, 210 (FIG. 2) is greater than the moving window sum threshold, Tw, a jam 270 (FIG. 2) is indicated. If the moving window sum, W, 210 (FIG. 2) is not greater than the moving window sum threshold, Tw, then block 410 compares the high amplitude count, A, 230 (FIG. 2) to a high amplitude count threshold, TA- If the high amplitude count, A, 230 (FIG.
  • block 420 compares the first post roller sum, Pi, of the post roller sum 250 (FIG. 2) and the second post roller sum, P 2 , of the post roller sum 250 (FIG. 2) to a first post roller sum threshold, T] 2 . If the first post roller sum, Pi, of the post roller sum 250 (FIG. 2) and the second post roller sum, P 2 , of the post roller sum 250 (FIG. 2) are greater than the first post roller sum threshold, T] 2 , a jam 270 (FIG. 2) is indicated.
  • block 430 compares the third post roller sum, P 3 , of the post roller sum 250 (FIG. 2) to a second post roller sum threshold, T 3 . If the third post roller sum, P 3 , of the post roller sum 250 (FIG. 2) is greater than the second post roller sum threshold, T 3 , a jam 270 (FIG. 2) is indicated. If the third post roller sum, P 3 , of the post roller sum 250 (FIG. 2) is not greater than the second post roller sum threshold, T 3 , then the medium transport system continues operation 280 (FIG. 2).
  • FIG. 5 is a flowchart of a signal processing portion of an alternate embodiment of the present invention.
  • a compute moving window sum block 500 produces a moving window sum 505 from the sound values 170 (FIG. 1).
  • a compute high amplitude count block 510 produces a high amplitude count 515 from the sound values 170 (FIG. 1).
  • a compute pre roller sum block 520 produces a pre roller sum 525 from the sound values 170 (FIG. 1).
  • a compute post roller sum block 530 produces a post roller sum 535 from the sound values 170 (FIG. 1).
  • a jam test block 540 tests the moving window sum 505, the high amplitude count 515, the pre roller sum 525, and the post roller sum 535 and produces a YES result and indicates a jam 550 if a medium jam is detected or a NO result and the medium transport system continues operation 545 if a medium jam is not detected.
  • the compute moving window sum block 500 is as the previously described compute moving window sum block 200 (FIG. 2).
  • the compute high amplitude count block 220 is as the previously described compute high amplitude count block 220 (FIG. 2).
  • the compute pre roller sum block 520 computes the pre roller sum 525 by computing a moving sum of the most recent N 3 sound values 170 (FIG. 1) within Region A in FIG. 3 where N 3 is typically 500.
  • the compute post roller sum block 530 is as the previously described compute post roller sum block 240.
  • FIG. 6 is a detailed diagram of the jam test block 540 (FIG. 5).
  • Block 600 compares the moving window sum, W, 505 (FIG. 5) to a moving window sum threshold, Tw- If the moving window sum, W, 505 (FIG. 5) is greater than the moving window sum threshold, Tw, a jam 550 (FIG. 5) is indicated. If the moving window sum, W, 505 (FIG. 5) is not greater than the moving window sum threshold, T w , then block 610 compares the high amplitude count, A, 515 (FIG. 5) to a high amplitude count threshold, T A . If the high amplitude count, A, 515 (FIG.
  • block 620 compares the pre roller sum 525 (FIG. 5) to a pre roller sum threshold, To. If the pre roller sum 525 (FIG. 5) is greater than the pre roller sum threshold, To, a jam 550 (FIG. 5) is indicated. If the pre roller sum 525 (FIG. 5) is not greater than the pre roller sum threshold, To, then block 630 compares the first post roller sum, Pi, of the post roller sum 535 (FIG.
  • first post roller sum threshold, Ti 2 If the first post roller sum, Pi, of the post roller sum 535 (FIG. 5) and the second post roller sum, P 2 , of the post roller sum 535 (FIG. 5) are greater than the first post roller sum threshold, Ti 2 , a jam 550 (FIG. 5) is indicated. If the first post roller sum, Pi, of the post roller sum 535 (FIG. 5) or the second post roller sum, P 2 , of the post roller sum 535 (FIG. 5) are greater than the first post roller sum threshold, Ti 2 , a jam 550 (FIG. 5) is indicated. If the first post roller sum, Pi, of the post roller sum 535 (FIG. 5) or the second post roller sum, P 2 , of the post roller sum 535 (FIG.
  • block 640 compares the third post roller sum, P3, of the post roller sum 535 (FIG. 5) to a second post roller sum threshold, T 3 . If the third post roller sum, P 3 , of the post roller sum 535 (FIG. 5) is greater than the second post roller sum threshold, T3, a jam 550 (FIG. 5) is indicated. If the third post roller sum, P3, of the post roller sum 535 (FIG. 5) is not greater than the second post roller sum threshold, T 3 , then the medium transport system continues operation 545 (FIG. 5).
  • a computer program product can include one or more non-transitory, tangible, computer readable storage medium, for example; magnetic storage media such as magnetic disk (such as a floppy disk) or magnetic tape; optical storage media such as optical disk, optical tape, or machine readable bar code; solid-state electronic storage devices such as random access memory (RAM), or read-only memory (ROM); or any other physical device or media employed to store a computer program having instmctions for controlling one or more computers to practice the method according to the present invention.
  • magnetic storage media such as magnetic disk (such as a floppy disk) or magnetic tape
  • optical storage media such as optical disk, optical tape, or machine readable bar code
  • solid-state electronic storage devices such as random access memory (RAM), or read-only memory (ROM); or any other physical device or media employed to store a computer program having instmctions for controlling one or more computers to practice the method according to the present invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Controlling Sheets Or Webs (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Circuit For Audible Band Transducer (AREA)

Abstract

Procédé d'indication d'un blocage de support le long d'une voie de transport de support comprenant un ou plusieurs rouleaux à utiliser pour acheminer le support le long de la voie de transport de support ; un microphone destiné à détecter le son du support acheminé et à produire un signal représentant le son ; un processeur destiné à produire des valeurs sonores à partir du signal et à calculer une somme de fenêtre de déplacement en réponse aux valeurs sonores ; calculer un compte d'amplitude élevée en réponse aux valeurs sonores ; et calculer une somme après rouleaux en réponse aux valeurs sonores ; et indiquer le blocage de support en réponse à la somme de fenêtre de déplacement, au compte d'amplitude élevée ou à la somme après rouleaux.
PCT/US2014/020639 2013-03-06 2014-03-05 Détection audio de blocage de support WO2014138193A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP14760338.5A EP2964554B1 (fr) 2013-03-06 2014-03-05 Détection audio de blocage de support
JP2015561588A JP5985088B2 (ja) 2013-03-06 2014-03-05 媒体ジャミングの音響検知
CN201480017496.1A CN105050926B (zh) 2013-03-06 2014-03-05 对介质堵塞的音频检测
EP18167476.3A EP3381846B1 (fr) 2013-03-06 2014-03-05 Détection audio de blocage de support

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US13/786,502 US9260261B2 (en) 2013-03-06 2013-03-06 Audio detection of medium jam
US13/786,502 2013-03-06

Publications (1)

Publication Number Publication Date
WO2014138193A1 true WO2014138193A1 (fr) 2014-09-12

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ID=51486133

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2014/020639 WO2014138193A1 (fr) 2013-03-06 2014-03-05 Détection audio de blocage de support

Country Status (5)

Country Link
US (1) US9260261B2 (fr)
EP (2) EP3381846B1 (fr)
JP (1) JP5985088B2 (fr)
CN (1) CN105050926B (fr)
WO (1) WO2014138193A1 (fr)

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US9745160B2 (en) * 2013-12-26 2017-08-29 Pfu Limited Paper conveying apparatus, jam detection method, and computer program
WO2016061497A1 (fr) * 2014-10-16 2016-04-21 Kodak Alaris Inc. Détection audio de brouillage de milieu
US9335703B1 (en) 2014-10-16 2016-05-10 Kodak Alaris Inc. Audio detection of medium jam
US9617097B2 (en) 2014-12-30 2017-04-11 Kodak Alaris Inc. System and method for metallic object detection in a media transport system
US9938100B2 (en) * 2014-12-30 2018-04-10 Kodak Alaris Inc. System and method for metallic object detection in a media transport system
US10150632B2 (en) 2014-12-30 2018-12-11 Kodak Alaris Inc. System and method for metallic object detection in a media transport system
US9850084B2 (en) 2015-10-21 2017-12-26 Kodak Alaris Inc. Detection of process abnormalities in a media processing system
US9712686B1 (en) * 2016-03-30 2017-07-18 Kyocera Document Solutions Inc. Printer diagnostics using external microphone
CN109891866B (zh) * 2016-06-24 2020-06-30 柯达阿拉里斯股份有限公司 用于介质传送系统中的金属物体检测的系统及方法
JP7009165B2 (ja) * 2017-02-28 2022-01-25 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ 収音装置、収音方法、プログラムおよび撮像装置

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US6076821A (en) * 1998-09-14 2000-06-20 Lexmark International, Inc. Method and apparatus for feeding sheets
US20010042956A1 (en) * 2000-05-22 2001-11-22 Wada Minoru Double feed detection method and device
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JP2009249046A (ja) * 2008-04-01 2009-10-29 Ricoh Elemex Corp 用紙搬送装置、用紙搬送異常検知方法

Also Published As

Publication number Publication date
EP2964554A4 (fr) 2017-01-04
EP3381846A1 (fr) 2018-10-03
US20140251016A1 (en) 2014-09-11
JP2016515080A (ja) 2016-05-26
EP3381846B1 (fr) 2019-08-28
JP5985088B2 (ja) 2016-09-06
EP2964554A1 (fr) 2016-01-13
US9260261B2 (en) 2016-02-16
CN105050926A (zh) 2015-11-11
EP2964554B1 (fr) 2018-04-18
CN105050926B (zh) 2017-06-30

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